SPATIAL TELEOPERATION OF LEGGED VEHICLES

A method of detecting an intent of spatial control of a vehicle involves receiving spatial motion data representative of a desired motion of at least a portion of a vehicle that is generated from a gesture with respect to a global reference frame. An initial desired velocity representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle is computed from the spatial motion data. The initial desired velocity is transformed from the global reference frame into a control reference frame. A nearest principal axis direction is identified based on comparing a direction of the initial desired velocity with a set of principal axis directions. A misalignment angle that represents a deviation in direction of the initial desired velocity from the nearest principal axis direction is calculated. Upon determining that the misalignment angle is less than or equal to an axis-snapping tolerance value, a final desired velocity is defined by rotating the initial desired velocity such that the final desired velocity is parallel to the nearest principal axis direction.